at_PID

Hi all

can everybody help me to "test" the

at_PID
linuxcnc.org/docs/html/man/man9/at_pid.9.html

i work for testing with the "servo_sim.hal"
and can't run / start axis ..

loadrt at_pid num_chan=2 / names=name1,name2

have any a little sample for me

bigThanks

ritsch

Hi Andy,

i not sure ...
a) i can start without the Parameters etc.

... and not sure
b) i can use at_pid with the "servo_SIM.hal" ...

Starting HAL User Interface program: halui
Shutting down and cleaning up LinuxCNC...
Killing task linuxcncsvr, PID=2466
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done

Debug file information:
Can not find -sec MOT -var MOT -num 1 ############## no IDEA why
Can not find -sec IO -var IO -num 1
Can not find -sec LINUXCNC -var NML_FILE -num 1
Can not find -sec EMC -var NML_FILE -num 1
insmod: error inserting '/usr/realtime-2.6.32-122-rtai/modules/linuxcnc/at_pid.ko': -1 Operation not permitted
custSampler.hal:31: exit value: 1
custSampler.hal:31: insmod failed, returned -1
See the output of 'dmesg' for more information.
2466
==============
in the dmesg i see
[ 825.708581] HAL: ERROR: duplicate variable 'pid.0.enable'
...
i have "beginer-problems": )

1) loadrt at_pid # without num and names its ok ... standard its 3
2) must do this ?
addf at_pid servo-thread or any ?
3) must set the parameters BEVOR start
4) its ok this "hals" write in the custSampler.hal ?

===================

... replace pid to at_pid
============
Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.5.0
Machine configuration directory is '/home/rb1/linuxcnc/configs/axisTim'
Machine configuration file is 'axis_mm.ini'
INIFILE=/home/rb1/linuxcnc/configs/axisTim/axis_mm.ini
PARAMETER_FILE=sim_mm.var
TASK=milltask
HALUI=halui
DISPLAY=axis
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
Shutting down and cleaning up LinuxCNC...
Killing task linuxcncsvr, PID=4751
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done

Debug file information:
Can not find -sec MOT -var MOT -num 1
Can not find -sec IO -var IO -num 1
Can not find -sec LINUXCNC -var NML_FILE -num 1
Can not find -sec EMC -var NML_FILE -num 1
HAL: ERROR: function 'at_pid.0.do-pid-calcs' not found
servo_sim.hal:44: addf failed
4751
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components

Kernel message information:
[16422.383974] I-pipe: Domain RTAI registered.
[16422.383978] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[16422.383979] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[16422.384063] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[16422.384065] PIPELINE layers:
[16422.384067] fb437e20 9ac15d93 RTAI 200
[16422.384068] c085cb20 0 Linux 100
[16422.396185] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[16422.396391] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[16422.396394] RTAI[sched]: hard timer type/freq = APIC/8327399(Hz); default timing: periodic; linear timed lists.
[16422.396396] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2797570000 hz.
[16422.396398] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[16422.396433] RTAI[usi]: enabled.
[16422.409482] RTAI[math]: loaded.
[16422.667551] RTAI[math]: unloaded.
[16422.673110] SCHED releases registered named ALIEN RTGLBH
[16422.797772] RTAI[malloc]: unloaded.
[16422.897643] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[16422.898857] I-pipe: Domain RTAI unregistered.
[16422.898949] RTAI[hal]: unmounted.

============================
... i "write" the last 8 weeks my self.PIDtuning ... but its not finish and i see yesterday the at_pid and
look for there functions and ideas etc.....

when the way to run at_pid its toooooo loooooong then i have no time for this BUT
a little ask to

python-hal:
h = hal.commponet("test","rb") # ok
h.newpin... # ok
h.ready # ok
BUT what i must do for LINK pins to linuxcnc maybe to existings pins (PID.Pgain etc.)

_py = xPid("Y")
_py.P =float(commands.getoutput("halcmd getp pid.1.Pgain"))
_py.I =float(commands.getoutput("halcmd getp pid.1.Igain"))
_py.D =float(commands.getoutput("halcmd getp pid.1.Dgain"))
_py.F1 =float(commands.getoutput("halcmd getp pid.1.FF1"))
_py.F2 =float(commands.getoutput("halcmd getp pid.1.FF2"))
mypids.pidY = _py

can you say me a other way to ASK the pins where i make it not in python with newpin ?
i test the
c = linuxcnc.command()
but have no intellisense for find the Parameters or any *cry*

sorry .... i work allways with intellisense but here i must word 99% for found the dokumentation and 1 for programming

verry much i write ... give me a smal return

oh ... yes ... its going
only the loadrt at_pid

without this:
# connect encoder index-enables for homing on index
net Xindex-enable encoder.0.index-enable <=> axis.0.index-enable #pid.0.index-enable here come a new error ... i have disable now
net Yindex-enable encoder.1.index-enable <=> axis.1.index-enable
net Zindex-enable encoder.2.index-enable <=> axis.2.index-enable

thanks now i can looooook wat i can do *g*

my problem is read in python the PINS

when i import (in python) the hal

i can make good NEW pins
but what i can do to READ the existings-other pins ?

its only the way over "os.system" or commands.getoutput("halcmd getp pid.0.Pgain"))

to read the pins ?